public void FindSlave()
{
LogOutput("開始搜尋控制器...");
ushort i, lMask = 0x1, p = 0;
uint DeviceType = 0, IdentityObject = 0;
btnstop.Enabled = false;
btnNmove.Enabled = false;
btnPmove.Enabled = false;
gNodeNum = 0;
txtSlaveNum.Text = "0";
cmbNodeID.Items.Clear();
for (i = 0; i < 1; i++)
{
NodeID[i] = 0;
}
if (SlaveTable[0] == 0)
{
MessageBox.Show("CardNo: " + gCardNo.ToString() + " No slave found!");
LogOutput("未發現控制器");
}
else
{
for (i = 0; i < 32; i++)
{
if ((SlaveTable[0] & lMask) != 0)
{
NodeID[gNodeNum] = (ushort)(i + 1);
gNodeNum++;
rc = CPCI_DMC.CS_DMC_01_get_devicetype((short)gCardNo, (ushort)(i + 1), (ushort)0, ref DeviceType, ref IdentityObject);
if (rc != 0)
{
MessageBox.Show("get_devicetype failed - code=" + rc);
}
else
{
switch (DeviceType)
{
case 0x4020192: //Servo A2 series
cmbNodeID.Items.Add(i + 1);
p++;
break;
case 0x6020192: //Servo M series
cmbNodeID.Items.Add(i + 1);
p++;
break;
case 0x8020192: //Servo A2R series
cmbNodeID.Items.Add(i + 1);
p++;
break;
case 0x9020192: //Servo S series
cmbNodeID.Items.Add(i + 1);
p++;
break;
}
}
}
lMask <<= 1;
}
if (p == 0)
{
MessageBox.Show("No A2 Servo Device Found!");
}
else
{
txtSlaveNum.Text = gNodeNum.ToString();
cmbNodeID.SelectedIndex = 0;
LogOutput("控制卡連線完成");
}
}
}
private void btnFindSlave_Click(object sender, EventArgs e)
{
ushort i, lMask = 0x1, p = 0;
uint DeviceType = 0, IdentityObject = 0;
btnralm.Enabled = false;
btnstop.Enabled = false;
btnreset.Enabled = false;
btnNmove.Enabled = false;
btnPmove.Enabled = false;
chksvon.Enabled = false;
gNodeNum = 0;
txtSlaveNum.Text = "0";
cmbNodeID.Items.Clear();
for (i = 0; i < 1; i++)
{
NodeID[i] = 0;
}
if (SlaveTable[0] == 0)
{
MessageBox.Show("CardNo: " + gCardNo.ToString() + " No slave found!");
}
else
{
for (i = 0; i < 32; i++)
{
if ((SlaveTable[0] & lMask) != 0)
{
NodeID[gNodeNum] = (ushort)(i + 1);
gNodeNum++;
rc = CPCI_DMC.CS_DMC_01_get_devicetype((short)gCardNo, (ushort)(i + 1), (ushort)0, ref DeviceType, ref IdentityObject);
if (rc != 0)
{
MessageBox.Show("get_devicetype failed - code=" + rc);
}
else
{
switch (DeviceType)
{
case 0x4020192: //Servo A2 series
cmbNodeID.Items.Add(i + 1);
p++;
break;
case 0x6020192: //Servo M series
cmbNodeID.Items.Add(i + 1);
p++;
break;
case 0x8020192: //Servo A2R series
cmbNodeID.Items.Add(i + 1);
p++;
break;
case 0x9020192: //Servo S series
cmbNodeID.Items.Add(i + 1);
p++;
break;
}
}
}
lMask <<= 1;
}
if (p == 0)
{
MessageBox.Show("No A2 Servo Device Found!");
}
else
{
txtSlaveNum.Text = gNodeNum.ToString();
cmbNodeID.SelectedIndex = 0;
timer1.Enabled = true;
btnralm.Enabled = true;
btnstop.Enabled = true;
btnreset.Enabled = true;
btnNmove.Enabled = true;
btnPmove.Enabled = true;
chksvon.Checked = false;
chksvon.Enabled = true;
}
}
}
public int OpenCard() //打开控制卡并初始化
{
ushort i, card_no = 0, cardnum = 0, DeviceInfo = 0;
ushort lMask = 0x1;
ushort gNodeNum = 0;
uint DeviceType = 0, IdentityObject = 0;
try
{
rc = CPCI_DMC.CS_DMC_01_open(ref existcard);
if (existcard <= 0)
{
// throw new Exception("没有找到运动控制卡！" + e.Message);
SendMsgToDisplayWarning("No DMC-NET card can be found!");
MessageBox.Show("No DMC-NET card can be found!");
return(-1);
}
else
{
for (i = 0; i < existcard; i++)
{
rc = CPCI_DMC.CS_DMC_01_get_CardNo_seq(i, ref card_no);
gCardNoList[i] = card_no;
}
gCardNo = gCardNoList[0];
for (i = 0; i < existcard; i++)
{
rc = CPCI_DMC.CS_DMC_01_pci_initial(gCardNoList[i]);
if (rc != 0)
{
// throw new Exception("运动控制卡无法进行初始化！" + e.Message);
SendMsgToDisplayWarning("Can't boot PCI_DMC Master Card！");
return(-1);
}
else
{
rc = CPCI_DMC.CS_DMC_01_initial_bus(gCardNoList[i]);
if (rc != 0)
{
SendMsgToDisplayWarning("The PCI_DMC Initial Failed！");
return(-1);
}
else
{
for (i = 0; i < 4; i++)
{
SlaveTable[i] = 0;
}
rc = CPCI_DMC.CS_DMC_01_start_ring(gCardNo, 0); //Start communication
rc = CPCI_DMC.CS_DMC_01_get_device_table(gCardNo, ref DeviceInfo); //Get Slave Node ID
rc = CPCI_DMC.CS_DMC_01_get_node_table(gCardNo, ref SlaveTable[0]);
if (SlaveTable[0] == 0)
{
SendMsgToDisplayWarning("The node table is empty！");
}
else
{
for (i = 0; i < 32; i++)
{
NodeID[i] = 0;
if ((SlaveTable[0] & lMask) != 0)
{
NodeID[gNodeNum] = (ushort)(i + 1);
rc = CPCI_DMC.CS_DMC_01_get_devicetype(gCardNo, NodeID[i], 0, ref DeviceType, ref IdentityObject);
gNodeNum++;
}
lMask <<= 1;
}
}
}
}
}
if (existcard != 0)
{
gCardNo = gCardNoList[0];
}
}
}
catch (Exception e)
{
// throw (new Exception("运动控制卡打开失败或者初始化失败！"));
SendMsgToDisplayWarning("PCI_DMC Master Card failed OR PCI_DMC Initial Failed！");
return(-1);
}
return(gCardNo);
}
